Kp and Ki lookup system and method

ABSTRACT

A system and method for controlling operation of a motor system that addresses the design challenges for the small form factor optical disk system. The control system can include a first module for providing a period error, a proportional gain (Kp) and an integration gain (Ki); a second module for operating on the Ki and Kp to provide an output; and a third module for commutating the motor in response to the output.

This application claims the benefit and priority of U.S. ProvisionalApplication 60/264,351, filed Jan. 25, 2001, which is hereinincorporated by reference for all purposes.

CROSS-REFERENCE TO CD-ROM APPENDIX

CD-ROM Appendix A, which is a part of the present disclosure, is aCD-ROM appendix consisting of 22 text files. CD-ROM Appendix A includesa software program executable on a controller as described below. Thetotal number of compact disks including duplicates is two. Appendix B,which is part of the present specification, contains a list of the filescontained on the compact disk. The attached CD-ROM Appendix A isformatted for an IBM-PC operating a Windows operating system.

A portion of the disclosure of this patent document contains materialwhich is subject to copyright protection. The copyright owner has noobjection to the facsimile reproduction by anyone of the patent documentor the patent disclosure, as it appears in the Patent and TrademarkOffice patent files or records, but otherwise reserves all copyrightrights whatsoever.

These and other embodiments are further discussed below.

BACKGROUND

1. Field of the Invention

The present invention relates to an optical disk system and, inparticular, to a servo system for controlling and monitoring theoperation of an optical disk spin motor control system.

2. Related Art

The need for compact data storage is explosively increasing. Theexplosive increase in demand is fueled by the growth of multimediasystems utilizing text, video, and audio information. Furthermore, thereis a large demand for highly portable, rugged, and robust systems foruse as multimedia entertainment, storage systems for PDAs, cell phones,electronic books, and other systems. One of the more promisingtechnologies for rugged, removable, and portable data storage is WORM(write once read many) optical disk drives.

One of the important factors affecting design of an optical system (suchas that used in a WORM drive) is the optical components used in thesystem and the control of actuators used to control the optical systemon the disk. The optical system typically includes a laser or otheroptical source, focusing lenses, reflectors, optical detectors, andother components. Although a wide variety of systems have been used orproposed, typical previous systems have used optical components thatwere sufficiently large and/or massive that functions such as focusand/or tracking were performed by moving components of the opticalsystem. For example, some systems move the objective lens (e.g. forfocus) relative to the laser or other light source. It was generallybelieved that the relatively large size of the optical components wasrelated to the spot size, which in turn was substantially dictated bydesigns in which the data layer of a disk was significantly spaced fromthe physical surface of the disk. A typical optical path, then, passedthrough a disk substrate, or some other portion of the disk, typicallypassing through a substantial distance of the disk thickness, such asabout 0.6 mm or more, before reaching a data layer.

Regardless of the cause being providing for relative movement betweenoptical components, such an approach, while perhaps useful foraccommodating relatively large or massive components, presents certaindisadvantages for more compact usage. These disadvantages include arequirement for large form factors, the cost associated withestablishing and maintaining optical alignment between components whichmust be made moveable with respect to one another, and the powerrequired to perform operations on more massive drive components. Suchalignment often involves manual and/or individual alignment oradjustment procedures which can undesirably increase manufacturing orfabrication costs for a reader/writer, as well as contributing to costsof design, maintenance, repair and the like.

Many early optical disks and other optical storage systems providedrelatively large format read/write devices including, for example,devices for use in connection with 12 inch (or larger) diameter disks.As optical storage technologies have developed, however, there has beenincreasing attention toward providing feasible and practical systemswhich are of relatively smaller size. Generally, a practical read/writedevice must accommodate numerous items within its form factor, includingthe media, media cartridge (if any), media spin motor, power supplyand/or conditioning, signal processing, focus, tracking or other servoelectronics, and components associated or affecting the laser or lightbeam optics. Accordingly, in order to facilitate a relatively smallform-factor, an optical head occupying small volume is desirable. Inparticular, it is desirable that the optical head have a small dimensionin the direction perpendicular to the surface of the spinning media.Additionally, a smaller, more compact, optical head provides numerousspecific problems for electronics designed to control the position andfocus of the optical head.

Additionally, although larger home systems have little concern regardingpower usage, portable personal systems should be low power devices.Therefore, it is important to have a system that conserves power (e.g.,by optically overfilling lenses) in both the optical system and theelectronic controlling system.

SUMMARY

In accordance with the present invention, a system and method includes acontrol system design for controlling operation of a motor system thataddresses the design challenges for the small form factor optical disksystem. The optical disk system includes a spin motor on which anoptical medium is positioned, an optical pick-up unit positionedrelative to the optical medium, an actuator arm that controls theposition of the optical pick-up unit, and a control system forcontrolling the spin motor, the actuator arm, and the laser.

Embodiments of the control system and device in accordance with thepresent invention use several unique methods including sharing a generalpurpose processor between the servo system and other drive systems inthe device, using a dedicated high speed processor for time criticalservo functions, communicating between the dedicated servo processor andthe shared general purpose processor, distributing the servo processingbetween the general purpose processor and the dedicated servo processor,and distributing the servo processing within the general purposeprocessor between a main loop process and a background periodicinterrupt process.

In one aspect of the present invention, a method is provided forcontrolling the spin speed of a motor. The method includes receiving aperiod value; receiving an integrator gain value (Ki) and a proportionalgain value (Kp); updating an integration value in response to theintegrator gain value; and outputting a motor control command inresponse to a proportional gain value.

In another aspect of the invention, a system is provided for controllinga spin motor. The system can include a first module for providing aperiod error, a proportional gain (Kp) and an integration gain (Ki). Thesystem can also include a second module for operating on the Ki and Kpto provide an output and a third module for commutating the motor inresponse to the output.

For purposes of summarizing the invention, certain aspects, advantages,and novel features of the invention have been described herein. It is tobe understood that not necessarily all such advantages may be achievedin accordance with any one particular embodiment of the invention. Thus,the invention may be embodied or carried out in a manner that achievesor optimizes one advantage or group of advantages as taught hereinwithout necessarily achieving other advantages as may be taught orsuggested herein.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1A shows an optical drive according to the present invention.

FIG. 1B is a simplified schematic illustration of a motor in accordancewith the present invention.

FIG. 1C shows an example of an optical media that can be used with anoptical drive according to the present invention.

FIG. 2A shows an embodiment of an optical pickup unit mounted on anactuator arm according to the present invention.

FIG. 2B shows an embodiment of an optical pick-up unit according to thepresent invention.

FIG. 2C illustrates the optical path through the optical head of FIG.2B.

FIG. 2D shows an embodiment of optical detector positioning of theoptical pick-up of FIG. 2B.

FIG. 3 shows a block diagram of the components of a control system of anoptical drive according to the present invention.

FIG. 4 shows a block diagram of the controller chip shown in the blockdiagram of FIG. 3 according to the present invention.

FIG. 5 shows a functional block diagram of a spin control servo blockdiagram for controlling the spin motor as shown in FIG. 3 according tothe present invention.

FIG. 6 shows a start spin algorithm for spinning up the spin motor ofFIG. 1B according to the present invention.

FIG. 7 shows a block diagram of the spin control interrupt algorithmexecuted on the system shown in FIG. 5 according to the presentinvention.

FIG. 8 shows a spin control algorithm which is called from the spincontrol interrupt algorithm of FIG. 7 according to the presentinvention.

FIG. 9 shows an embodiment of a spin speed control algorithm called fromthe spin control algorithm of FIG. 8 according to the present invention.

FIG. 10 is a block diagram of a PSA/PMAD feedback system.

Uses, advantages, and variations of the present invention will beapparent to one of ordinary skill in the art upon reading thisdisclosure and accompanying drawings.

DETAILED DESCRIPTION

The present disclosure was co-filed with the following sets ofdisclosures: the “Tracking and Focus Servo System” disclosures, the“Servo System Calibration” disclosures, the “Spin Motor Servo System”disclosures, and the “System Architecture” disclosures; each of whichwas filed on the same date and assigned to the same assignee as thepresent disclosure, and are incorporated by reference herein in theirentirety. The Tracking and Focus Servo System disclosures include U.S.Disclosure Ser. Nos. 09/950,329, 09/950,365, 09/950,408, 09/950,444,09/950,394, 09/950,413, 09/950,397, 09/950,914, 09/950,410, 09/950,441,09/950,373, 09/950,425, 09/950,414, 09/950,378, 09/950,513, 09/950,331,09/950,395, 09/950,376, 09/950,393, 09/950,432, 09/950,379, 09/950,515,09/950,411, 09/950,412, 09/950,361, 09/950,540. The Servo SystemCalibration disclosures include U.S. Disclosure Ser. Nos. 09/950,398,09/950,396, 09/950,360, 09/950,372, 09/950,541, 09/950,409, 09/950,520,09/950,377, 09/950,367, 09/950,512, 09/950,415, 09/950,548, 09/950,392and 09/950,514. The Spin Motor Servo System disclosures include U.S.Disclosure Ser. Nos. 09/951,108, 09/951,869, 09/951,930, 09/951,328,09/951,325, 09/951,475. The System Architecture disclosures include U.S.Disclosure Ser. Nos. 09/951,947, 09/951,339, 09/951,469, 09/951,337,09/951,329, 09/951,332, 09/951,931, 09/951,850, 09/951,333, 09/951,331,09/951,156, 09/951,340 and 09/951,940.

The present disclosure was also co-filed with the following disclosuresU.S. Patent Disclosure Ser. Nos. 09/950,516 and 09/950,365, each ofwhich was filed on the same date and assigned to the same assignee asthe present disclosure, and are incorporated by reference herein intheir entirety.

The detailed description that follows is presented largely in terms ofprocesses and representations of operations, which can be performed byservo systems and the like to control and command various devices. Theservo systems may advantageously contain program logic or othersubstrate configuration representing data and instructions, which causethe servo system to operate in a specific and predefined manner, asdescribed herein. The program logic may advantageously be implemented asone or more modules. The modules may advantageously be configured toreside on memory in processors and execute on the one or moreprocessors. The modules include, but are not limited to, software,firmware, hardware or a combination thereof that perform certain tasks.Thus, a module may include, by way of example, software components,processes, functions, subroutines, procedures, attributes, classcomponents, task components, object-oriented software components,segments of program code, drivers, firmware algorithms, micro-code,circuitry, data, and the like.

The program logic is generally considered to be a sequence ofprocessor-executed steps. These steps generally require manipulations ofphysical quantities. Usually, although not necessarily, these quantitiestake the form of electrical, magnetic, or optical signals capable ofbeing stored, transferred, combined, compared, or otherwise manipulated.It is conventional for those of ordinary skill in the art to refer tothese signals as bits, values, elements, symbols, characters, text,terms, numbers, records, files, and the like. It should be kept in mind,however, that these and some other terms should be associated withappropriate physical quantities for processor operations, and that theseterms are merely conventional labels applied to physical quantities thatexist within and during operations.

It should be understood that manipulations within the processor areoften referred to in terms of adding, processing, comparing, retrieving,playing, moving, searching, transmitting, receiving, and the like, whichare often associated with manual operations performed by a humanoperator. It is to be understood that no involvement of the humanoperator may be necessary, or even desirable. The operations describedherein are machine operations performed in conjunction with the humanoperator or user that interacts with the devices in which the servosystems are resident.

It should also be understood that the programs, modules, processes,algorithms, routines, methods, and the like, described herein are but anexemplary implementation and are not related, or limited, to anyparticular computer, processor, apparatus, or computer language. Rather,various types of general purpose computing machines or devices may beused with programs constructed in accordance with the teachingsdescribed herein. Similarly, it may prove advantageous to construct aspecialized apparatus to perform the processes described herein by wayof a dedicated system with hard-wired logic or programs stored innon-volatile memory, such as read-only memory (ROM).

Throughout this description, the embodiments and examples shown shouldbe considered as exemplars, rather than limitations on the presentinvention. It should be understood that although many of the embodimentsof processes are shown as subroutines to other processes, thesesubroutines may perform as stand alone routines.

In accordance with the present invention, an optical disk system ispresented. The optical disk system includes a spin motor on which anoptical media is positioned, an optical pick-up unit positioned relativeto the optical media, an actuator arm that controls the position of theoptical pick-up unit, and a control system for controlling the spinmotor, the actuator arm, and the laser. The control system can include aread/write channel coupled to provide control signals to a servo system.

The optical media can be a relatively small-sized disk with readabledata present on the surface of the disk. Furthermore, the optical diskmay have a pre-mastered portion and a writeable portion. Thepre-mastered portion is formed when the disk is manufactured andcontains readable data such as, for example, audio, video, text or anyother data that a content provider may wish to include on the disk. Thewriteable portion is left blank and can be written by the disk drive tocontain user information (e.g., user notes, interactive status (forexample in video games), or other information that the drive or user maywrite to the disk). Because there may be optical differences, forexample in reflectivity, and in the data storage and addressingprotocols between the pre-mastered portion of the disk and the writeableportion of the disk, a control system according to the present inventionmay have different operating parameters in the different areas of thedisk.

The optical pick-up unit includes a light source, reflectors, lenses,and detectors for directing light onto the optical media. The detectorsinclude laser power feed-back detectors as well as data detectors forreading data from the optical media. The optical pick-up unit ismechanically mounted on the actuator arm. The actuator arm includes atracking actuator for controlling lateral movement across the opticalmedia and a focus actuator for controlling the position of the opticalpick-up unit above the optical medium. The tracking and focus actuatorsof the optical pick-up unit are controlled by the controller.

In some embodiments, for example, the focus actuator is a voice coilpositioned to flex the actuator arm at a flexure line so that theoptical pick-up unit moves in a direction perpendicular to the surfaceof the optical media. The tracking actuator can include a voice coilpositioned so that the actuator arm can be rotated around a point on theactuator arm so that the optical pick-up unit can be positioned ontracks across the optical medium.

The controller can further include control electronics for controllingthe power to the laser. In some embodiments, the laser power may beadjusted to a high level in order to write data to the optical data andadjusted to a low level in order to read data from the optical media.

The servo system includes various feedback loops for controlling theoperation of the spin motor, the optical pick-up unit, and thecontroller. The feedback loops, for example, can include a trackingloop, a focus loop, a spindle speed control loop, and a laser powercontrol loop. Furthermore, servo system according to the presentinvention operate even in the event of significant cross-talk betweenthe individual feedback loops. Furthermore, a servo system according tothe present invention can include track seeking (both multi-trackseeking and one-track seeking), error recovery, and other functionsrelated to the control of the optical pick-up unit, focus positioningand tracking positioning, during transfer of data to and from theoptical media during read and write operations, respectively. In someembodiments of the present invention, a servo system can includecalibration routines, which set and define operating parameters of theservo system. In some embodiments, calibrations can be adaptivelyaccomplished during operation of the disk drive. In some embodiments,calibrations are accomplished whenever a new optical disk is insertedinto the optical drive.

FIG. 1A shows an optical drive 100 according to the present invention.Optical drive 100 includes a spin motor 102, which rotates a rotor shaft104 on which an optical medium 106 can be mounted. Optical drive 100further includes an optical pick-up unit (OPU) 108 mechanicallycontrolled by an actuator arm 110. OPU 108 includes a light sourceelectrically controlled by laser driver 112. OPU 108 further includesoptical detectors providing signals for control system 114. Controlsystem 114 can control the rotational speed of optical medium 106 bycontrolling spin motor 102, can control the position and orientation ofOPU 108 through actuator arm 110, and can control the optical power ofthe light source in OPU 108 by controlling laser driver 112.

Control system 114 includes R/W processing 116, servo system 118, andoutput interface 120. Read/Write processing 116 controls the reading ofdata from optical medium 106 and the writing of data to optical medium106. Read/Write processing 116 outputs data to a host (not shown)through output interface 120. Servo system 118 controls the speed ofspin motor 102, the position of OPU 108, and the laser power in responseto signals from R/W processing 116. Further, servo system 118 insuresthat the operating parameters (e.g., focus, tracking, and spin motorspeed) are controlled in order that data can be read from or written tooptical medium 106.

FIG. 1C shows an example of optical medium 106. Optical medium 106 caninclude any combinations of pre-mastered portions 150 and writeableportions 151. Pre-mastered portions 150, for example, can be written atthe time of manufacture to include content provided by a contentprovider. The content, for example, can include audio data, video data,text data, or any other data that can be provided with optical medium106. Writeable portion 151 of optical medium 106 can be written onto byoptical drive 100 to provide data for future utilization of opticalmedium 106. The user, for example, may write notes, keep interactivestatus (e.g., for games or interactive books) or other information onthe disk. Optical drive 100, for example, may write calibration data orother operating data to the disk for future operations of optical drive100 with optical medium 106. In some embodiments, optical medium 106includes an inner region 153 close to spindle access 152. A bar code canbe written on a portion of an inner region 153. The readable portion ofoptical medium 106 starts at the boundary of region 151 in FIG. 1C. Insome embodiments, writeable portion 151 may be at the outer diameterrather than the inner diameter. In some embodiments of optical medium106, a portion of the disk can be reserved as read only memory (ROM),that provides information about optical medium 106, such as the type ofmedia being used and the boundaries for the various regions. The ROMportion may be referred to as the Data System Area (DSA). In someembodiments of optical medium 106, an unusable outer region 154 can alsobe included.

An example of optical medium 106 is described in U.S. application Ser.No. 09/560,781, filed Apr. 28, 2000, which is herein incorporated byreference in its entirety. The R/W Data Processing 116 can operate withmany different disk formats. One example of a disk format is provided inU.S. application Ser. No. 09/527,982, filed Mar. 17, 2000, which isherein incorporated by reference in its entirety. Other examples of diskdata formats are provided in U.S. application Ser. No. 09/539,841, filedMar. 31, 2000, U.S. application Ser. No. 09/583,448, filed May 30, 2000,U.S. application Ser. No. 09/542,681, filed Apr. 3, 2000, U.S.application Ser. No. 09/542,510, filed Apr. 3, 2000, U.S. applicationSer. No. 09/583,133, filed May 30, 2000, and U.S. application Ser. No.09/583,452, filed May 30, 2000, each of which is herein incorporated byreference in its entirety.

Optical drive 100 can be included in any host, for example personalelectronic devices. Examples of hosts that may include optical drive 100are further described in U.S. patent application Ser. No. 09/315,398,filed May 20, 1999, which is herein incorporated by reference in itsentirety. In some embodiments, optical drive 100 can have a relativelysmall form factor such as about 10.5 mm height, 50 mm width and 40 mmdepth.

FIG. 2A shows an embodiment of actuator arm 110 with OPU 108 mounted onone end. Actuator arm 110 in FIG. 2A includes a spindle 200, whichprovides a rotational pivot about axis 202 for actuator arm 110.Actuator coil 204, which in some embodiments can be a magnetic coilpositioned over a permanent magnet, can be provided with a current toprovide a rotational motion about axis 202. Actuator arm 110 furtherincludes a flex axis 206. A motion of OPU 108 substantiallyperpendicular to the rotational motion about axis 206 can be provided byactivating actuator coil 208. In some embodiments, actuator coils 204and 208 can be voice coils.

FIGS. 2B and 2C show an embodiment of OPU 108. OPU 108 of FIG. 2Bincludes a periscope 210 having reflecting surfaces 211, 212, and 213.Periscope 210 is mounted on a transparent optical block 214. Object lens223 is positioned on spacers 221 and mounted onto quarter wave plate(QWP) 222 which is mounted on periscope 210. Transparent optical block214 is, in turn, mounted onto turning mirror 216 and spacer 224, whichare mounted on a silicon submount 215. A laser 218 is mounted on a lasermount 217 and positioned on silicon submount 215. Further, detectors 225and 226 are positioned and mounted on silicon substrate 215. In someembodiments, a high frequency oscillator (HFO) 219 can be mounted nextto laser 218 on silicon submount 215 to provide modulation for the laserbeam output of laser 218.

Laser 218 produces an optical beam 224 which is reflected intotransparent block 214 by turning mirror 216. Beam 224 is then reflectedby reflection surfaces 212 and 213 into lens 223 and onto optical medium106 (FIG. 1A). In some embodiments, reflection surfaces 212 and 213 canbe polarization dependent and can be tuned to reflect substantially allof the light from laser 218. QWP 222 rotates the polarization of laserbeam 224.

The reflected beam 230 from optical medium 106 is collected by lens 223and focused into periscope 210. A portion (in some embodiments about50%) of reflected beam 230 passes through reflecting surface 213 and isdirected onto optical detector 226. Further, a portion of reflected beam230 passes through reflecting surface 212 and is reflected onto detector225 by reflecting surface 211. Because of the difference in pathdistances between the positions of detectors 225 and 226, detector 226is positioned before the focal point of lens 223 and detector 225 ispositioned after the focal point of lens 223, as is shown in the opticalray diagram of FIG. 2C.

FIG. 2D shows an embodiment of detectors 225 and 226 according to thepresent invention. Detector 225 includes an array of optical detectors231, 232, and 233 positioned on submount 215. Each individual detector,detectors 231, 232, and 233, is electrically coupled to provide signalsA, E and C to control system 114 (FIG. 1A). Detector 226 also includesan array of detectors, detectors 234, 235 and 236, which provide signalsB, F, and D, respectively, to control system 114. In some embodiments,center detectors 232 and 235, providing signals E and F, respectively,are arranged to approximately optically align with the tracks of opticalmedium 106 (FIG. 1A) as actuator arm 110 (FIG. 1A) is rotated acrossoptical medium 106.

The degree of focus, then, can be determined by measuring the differencebetween the sum of signals A and C and the center signal E of detector225 and the difference between the sum of signals B and D and the centersignal F of detector 226. A tracking monitor can be provided bymonitoring the difference between signals A and C of detector 225 andthe difference between signals B and D of detector 226. Representativeembodiments of OPU 108 are further described in application Ser. No.09/540,657, filed Mar. 31, 2000, which is herein incorporated byreference in its entirety.

Referring now to FIG. 1B, a schematic representation of spin motor 102of optical drive 100 is shown, which can be one of many well-known typesof spin motors suitable for use with the present invention. In oneembodiment, spin motor 102 can be a three-phase, brushless spin motorconnected to the associated control and drive circuitry as describedherein. In a particular example illustrated herein, spin motor 102 is atwelve-pole motor having nine windings, which indicates that the motormagnet has six pairs of N/S magnet poles (i.e. twelve pole motor) andincludes 9 stator slots on which the coils are wound. The nine windingsare grouped into three coils A_(c), B_(c), and C_(c), where each windingset is selectively driven at a predetermined phase. (Note: The termscoil and winding are sometimes used interchangeably herein). As known tothose of ordinary skill in the art, a sequencer 326 and a motoramplifier 328 collectively, can operate to selectively drive the phasewindings to induce rotation of rotor shaft 104 of spin motor 102.

Spin motor 102 includes rotor shaft 104, which rotates responsive to themagnetic fields generated by the current flowing through coils A_(c),B_(c), and C_(c) being energized in a standard sequence, such as inbipolar operation. In one embodiment, the rotor of spin motor 102 has asegmented magnet which in conjunction with the stator coils generates arotational force proportional to the current in coils A_(c), B_(c), andC_(c). To cause rotation, motor sequencer 326 applies a current to thecoils in a specific sequence, which is synchronized with the rotorposition. In bipolar operation, sequencer 326 controls spin motor 102,such that current is driven through two coils while a third coil is leftfloating. As described in greater detail below, the back electromotiveforce (BEMF) of the floating coil can generate a zero crossinginterrupt, which may be used to indicate the rotational velocity ofrotor shaft 104 relative to coils A_(c), B_(c) and C_(c). This zerocrossing interrupt is also used by sequencer 326 to switch the currentinto the proper coils to generate a continuous rotational force. Ifrotor shaft 104 is rotating too fast, a signal can be provided tosequencer 326, which lowers the current to the coils to slow down rotorshaft 104. Conversely, if rotor shaft 104 is rotating too slowly, asignal can be provided to sequencer 326, which increases the current tothe coils to speed up rotor shaft 104.

Referring again to FIG. 1A, optical drive 100 presents a multitude ofchallenges in control over conventional optical disk drive systems. Aconventional optical disk drive system, for example, may perform atwo-stage tracking operation by moving the optics and focusing lensradially across the disk on a track and may perform a focusing operationby moving a focusing lens relative to a disk. Typically, conventionaloptical disk drive systems are much larger than some embodiments ofoptical drive 100. Some major differences include the actuatorpositioning of actuator arm 110, which operates in a rotary fashionaround spindle 200 (FIG. 2A) for tracking and with a flexure actionaround axis 206 for focus. Further, the speed of rotation of spin motor102 is dependent on the track position of actuator arm 110.Additionally, the characteristics of signals A, B, C, D, E, and Freceived from OPU 108 differ with respect to whether OPU 108 ispositioned over a pre-mastered portion of optical medium 106 or awritable portion of optical medium 106. Finally, signals A, B, C, D, E,and F differ between a read operation and a write operation.

It may generally be expected that moving to a light-weight structuraldesign such as actuator arm 110 may lessen problems involving structuralresonance. Typically, mechanical resonance scales with size, such thatthe resonant frequency increases as the size decreases. Further, focusactuation and tracking actuation in actuator arm 110 are more stronglycoupled in actuator arm 110 where in conventional designs the actuatorand tracking actuation is more orthogonal and decoupled. Further, sinceall of the optics in optical drive 100 are concentrated at OPU 108, alarger amount of optical cross-coupling between tracking and focusmeasurements is experienced. In accordance with the present invention,servo system 118 pushes the bandwidth of the servo system as hard aspossible, but not so hard that mechanical resonance in actuator arm 110are excited, to avoid erroneously responding to mechanical and opticalcross couplings.

The major challenges faced by servo system 118 of control system 114 caninclude operating at lower bandwidth with large amounts of crosscoupling and nonlinear system responses from operating closer to thebandwidth. Additionally, the performance of optical drive 100 shouldmatch or exceed that of conventional CD or DVD drives in terms of trackdensities and data densities.

Most conventional optical drive servo systems are analog servos. In ananalog environment, the optical drive servo system operates with theconstraints of the analog calculations. In accordance with the presentinvention, control system 114, however, includes substantially a digitalservo system. A digital servo system, such as servo system 118, has ahigher capability in executing solutions to problems of system control.Embodiments of servo system 118 can operate in the harsher controlenvironment presented by optical drive 100 and are capable of higherversatility towards upgrading servo system and refinement of servosystem algorithms than in conventional systems.

Further requirements for optical drive 100 can include error recoveryprocedures. Embodiments of optical drive 100 which have a small formfactor can be used in portable packages and are therefore subject tomechanical shocks and temperature changes, all of which affect theability to extract data (e.g., music data) from optical medium 106reliably or, in some cases, write reliably to optical medium 106. Sinceoptical drive 100 may have tighter tolerances than conventional drives,some embodiments of servo system 118 include dynamic calibrationprocedures. Calibration procedures are discussed more fully inapplication Ser. No. 09/950,398, filed concurrently with the presentapplication, herein included by reference in its entirety.

FIG. 3 shows a block diagram of an embodiment of control system 114according to the present invention. Optical signals are received fromOPU 108. As discussed above with reference to FIGS. 2B, 2C and 2D, someembodiments of OPU 108 include two arrays of detectors with array 225including detectors 231, 232, and 233 for providing signals A, E, and C,respectively, and array 226 having detectors 234, 235 and 236 providingsignals B, F, and D, respectively.

Signals received from OPU 108 are typically current signals. Therefore,the signals from OPU 108 are converted to voltage signals in a preamp254. Preamp 254 can include a transimpedance amplifier, which convertscurrent signals to voltage signals. Further, preamp 254 generates a highfrequency (HF) signal based on the input signals from OPU 108. The HFsignal can be formed by the analog sum of the signals from OPU 108(signals A, B, C, D, E and F).

The voltage signals A, B, C, D, E, F and HF from preamp 254 are inputsignals to control chip 250. Control chip 250 is a digital and analogsignal processor chip which digitally performs operations on the inputsignals A, B, C, D, E, F, HF, and laser power to control the actuatorsof actuator arm 110 (FIG. 1A), the laser power of laser 218 (FIG. 2B),and the motor speed of spin motor 102. Control chip 250 also operates onthe HF signal to read the data and communicates data and instructionswith a host (not shown). A type of control chip, Part No. 34-00003-03 isavailable from ST Microelectronics.

The laser power signal is further input to laser servo 112 along withthe W/R command. In some embodiments, laser servo 112 is an analog servoloop that controls the power output of laser 218 of OPU 108. In someembodiments, the laser power can also be included in a digital servoloop controlled by control chip 250. In one embodiment, the laser powerof laser 218 is high for a write operation and low for a read operation.Laser servo 112 holds the power of laser 218 to a high power or lowpower in response to the laser W/R power control signal from controlchip 250.

In FIG. 3, control chip 250 is further coupled with data buffer memory256 for buffering data to the host and program memory 258. Programmemory 258 can hold program code for performing the servo functions, forcontrolling focus and tracking functions, laser power, and motor speed,among other functions. Data read through OPU 108 can be buffered intodata buffer memory 256, which assists in power savings and allows moretime for error recovery if optical drive 100 suffers a mechanical shockor other disturbing event.

In some embodiments, control chip 250 is a low power device, whichoperates at small currents. Control voltages for controlling focus andtracking actuators are input to power driver 252. Power driver 252outputs the current required to affect the focus and tracking functionsof actuator arm 110 to focus actuator 208 and tracking actuator 204. Insome embodiments, as described above, focus actuator 208 and trackingactuator 204 can be voice coil motors mounted on actuator arm 110 sothat tracking actuator 204 moves OPU 108 over tracks and focus actuator208 flexes actuator arm 110 to affect the distance between OPU 108 andoptical medium 106. Embodiments for seeking and tracking functions whichcan be used in accordance with embodiments of the present invention arefurther described in U.S. application Ser. No. 09/950,329 filedconcurrently with the present application which is herein incorporatedby reference for all purposes.

Power driver 252 also provides current to drive spin motor 102. Spinmotor 102 can provide sensors to track the position of OPU 108 so thatthe speed of spin motor 102 can be related to the track. In someembodiments, the data rate is held constant by controlling the speed ofspin motor 102.

In one embodiment, power driver 252 can also control a cartridge ejectmotor 260 and latch solenoid 262 in response to commands from controlchip 250. In one embodiment, cartridge eject motor 260 mounts anddismounts optical medium 106 onto spin motor 102. Latch solenoid 262provides a means to latch the actuators so that they cannot move in thefocus or tracking directions when the drive is not active. This is toprevent actuator or disk damage during a non-operating shock.

In one embodiment, control system 114 can include power monitor 264 andvoltage regulator 266. Power monitor 264 provides information about thepower source to control chip 250. Power monitor 264, for example, canreset control chip 250, in the event of a power interruption. In oneembodiment, voltage regulator 266, in response to an on/off indicationfrom control chip 250, provides power to drive laser 218, spin motor102, actuators 208 and 204, cartridge eject motor 260, and latchsolenoid 262.

FIG. 4 shows control chip 250 in accordance with an embodiment of thepresent invention. Control chip 250 can include a microprocessor 270 anda digital signal processor (DSP) 272. Real time digital servo systemscan be executed on DSP 272 while other control functions can be executedon microprocessor 270. A control structure for embodiments of controlchip 250, and interactions between DSP 272 and microprocessor 270, arefurther discussed in U.S. application Ser. No. 09/951,947, hereinincorporated by reference in its entirety.

As shown in FIG. 4, signals A, E, C, B, F and D are input from preamp254 (FIG. 3) into offset block 274. Offset block 274 provides a variableoffset for each of input signals A, E, C, B, F, and D. The value of theoffset is variable and can be set by a calibration routine in offset andgain calibration operating in microprocessor 270 or DSP 272.

The signals output from offset block 274 are input to variable gainamplifiers 276. The gains provided through variable gain amplifiers 276are set by a calibration routine executed in microprocessor 270 or DSP272, as described in application Ser. No. 09/950,398, previouslyincorporated herein. The offsets and gains of offset block 274 andamplifiers 276, respectively, may be different for each of signals A, E,C, B, F, and D. Further, the gains and offsets may be different for readoperations and write operations and may be different for pre-masteredverses writable portions of optical medium 106. Further, the offsets andgains may vary as a function of position on the disk (in addition tovarying between pre-mastered or writable regions). Some factors whichmay further lead to offset and gain settings include light scatteringonto detectors, detector variations, detector drift, or any other factorwhich would cause the output signal from the detectors of OPU 108 tovary from ideal outputs. Various calibration and feedback routines canbe operated in microprocessor 270 and DSP 272 to maintain efficientvalues of each of the offset and gain values of offset block 274 andamplifiers 276, respectively, over various regions of optical medium106.

In some embodiments the offset and gain values of offset block 274 andamplifiers 276 can be varied by microprocessor 270 and DSP 272 as OPU108 is positionally moved over optical medium 106. In some embodimentsmicroprocessor 270 and DSP 272 monitor the offset and gain values ofoffset block 274 and amplifiers 276 in order to maintain optimum valuesfor the offset and gain values as a function of OPU 108 position overoptical medium 106. In some embodiments, the offset values of offsetblock 274 and amplifiers 276 are determined such that the dynamic rangeof the respective input signals are centered at zero. Further, the gainsof amplifiers 276 are set to fill the dynamic range of analog-to-digitalconverters 278-1 and 278-2 in order to reduce quantization error.

The output signals from variable gain amplifiers 276 can be input toanti-aliasing filters 280. Anti-aliasing filters 280 can be low-passfilters designed to prevent aliasing. In some embodiments, the outputsignals from each of anti-aliasing filters 280 are input toanalog-to-digital converters. In the embodiment shown in FIG. 4, theoutput signals from anti-aliasing filters 280 are input to multiplexers282-1 and 282-2.

The HF signal from preamp 254 (FIG. 3) is input to equalizer 284.Equalizer 284 equalizes the HF signal by processing the signal through atransfer function that corrects systematic errors in detecting andprocessing data read from optical medium 106. In some embodiments,equalizer 284 operates as a low-pass filter since the data signals areat high frequency. The output signal from equalizer 284 is input toamplifier 286. The output signal from amplifier 286 is input as a fourthinput to multiplexer 282-1.

The laser power signal LP can be input to multiplexer 288 where LP canbe multiplexed with other signals that may require digitization. Theoutput signal from multiplexer 288 can be input as a fourth input tomultiplexer 282-2. One of ordinary skill in the art will recognize thatif no other signals are being digitally monitored, multiplexer 288 canbe omitted. Further, one of ordinary skill in the art will recognizethat any number of analog-to-digital converters can be utilized and anynumber of signals can be multiplexed to use the available number ofanalog-to-digital converters. The particular embodiment shown here isexemplary only.

The output signal from multiplexer 282-1 is input to analog-to-digitalconverter 278-1. The output signal from multiplexer 282-2 is input toanalog-to-digital converter 278-2. In some embodiments,analog-to-digital converters 278-1 and 278-2 can be, for example, 10 bitconverters sampling at a rate of 20.6 MHz, with each sample being takenfrom a different input of multiplexers 282-1 and 282-2, respectively. Inone embodiment, the effective sampling of each of the input signals isabout 5 MHz.

The digitized signals from analog-to-digital converts 278-1 and 278-2are the digitized and equalized HF signal HF_(d), the digitized laserpower signal LP_(d), and digitized detector signals A_(d), E_(d), C_(d),B_(d), F_(d), and D_(d). Digitized laser power signal LP_(d) is input toDSP 272 and can be used in a digital servo loop for controlling laserpower or in determination of gain and offset values for variouscomponents.

The digitized HF signal HF_(d) is input to focus OK (FOK) 290, whichoutputs a signal to DSP 272 and microprocessor 270 indicating whetherfocus is within a useful range. Since detectors 225 and 226 may not bevery large, when OPU 108 has become substantially out of focus, lightcan be lost off detectors 225 and 226 (FIG. 2B). FOK 290 determines ifthe total intensity of light on detectors 225 and 226 is above athreshold value indicating a near in-focus condition. In someembodiments, this function can also be executed in software in the servosystem.

Digitized detector signals A_(d), E_(d), C_(d), B_(d), F_(d), and D_(d)are input to decimation filters 292-1 through 292-6, respectively.Decimation filters 292-1 through 292-6 are variable filters whichdown-sample the digitized detector signals A_(d), E_(d), C_(d), B_(d),F_(d), and D_(d) to output signals A_(f), E_(f), C_(f), B_(f), F_(f),and D_(f), which are input to DSP 272. In some embodiments, each ofsignals A_(d), E_(d), C_(d), B_(d), F_(d), and D_(d) can be effectivelysampled at 6.6 MHz by ADC 278-1 and 278-2. Decimation filters 292-1through 292-6 can then down-sample to output signals A_(f), E_(f),C_(f), B_(f), F_(f), and D_(f) at, for example, about 90 kHz.Embodiments of decimation filters 292-1 through 292-6 can down-sample toany sampling rate, for example from about 26 kHz to about 6.6 MHz.

Although the data signals are at high frequency, the servo informationcan be at lower frequencies. The mechanical actuators 208 and 204 ofactuator arm 110 can respond in the hundreds of Hertz range yieldingservo data in the 10s of kHz range, rather than in the mHz ranges ofoptical data. Further, mechanical resonance of actuator arm 110 canoccur in the 10s of kHz range. Therefore, down-sampling effectivelyfilters out the high frequency portion of the spectrum which is not ofinterest to servo feedback systems. Further, a much cleaner and moreaccurate set of digital servo signals A_(f), E_(f), C_(f), B_(f), F_(f),and D_(f) are obtained by the averaging performed in decimation filters292-1 through 292-6, respectively. In some embodiments, decimationfilters 292-1 through 292-6 can be programmed by microprocessor 270 orDSP 272 to set the output frequency and further filteringcharacteristics.

In one embodiment, a wobble signal at about 125 kHz in the writableportion of optical medium 106 can result from a modulation in thephysical track in that region. The wobble signal can be filtered out ofsignals A_(f), E_(f), C_(f), B_(f), F_(f), and D_(f). Similarly, astabilized frequency on laser power at 500 MHz, from modulator 219 (FIG.2B) can be filtered out of signals A_(f), E_(f), C_(f), B_(f), F_(f),and D_(f). In one embodiment, signals A_(f), E_(f), C_(f), B_(f), F_(f),and D_(f) only include sensor noise and real disturbances that can befollowed by a servo system operating on, for example, actuator arm 110.Disturbances can include stamping errors in the mastering process, sincetracks will not be perfectly layed. In addition, spin motor 102 mayprovide some errors through bearings which cause vibration.Additionally, optical medium 106 may not be flat. Tracking and focusservo functions, as well as the servo systems tracking laser power andthe rotational speed of spin motor 102, can follow these errors. Thespectral response of the servo system can be responsive to the frequencyrange of the errors that are being tracked. Embodiments of optical drive100 operate in extremes of physical abuse and environmental conditionsthat may alter the resonant frequency characteristics and responsecharacteristics of spin motor 102, optical medium 106, and actuator arm110.

Referring again to FIG. 4, the digital output signals A_(d), E_(d),C_(d), B_(d), F_(d), and D_(d) are further input to summer 294. Summer294 can be a programmable summer so that a sum of particularcombinations of inputs A_(d), E_(d), C_(d), B_(d), F_(d), and D_(d) canbe utilized. Summer 294 sums a selected set of signals A_(d), E_(d),C_(d), B_(d), F_(d), and D_(d) to form a low-bandwidth digitized versionof the HF signal. The output signal from summer 294 is multiplexed inmultiplexer 296-1 and multiplexer 296-2 with the digitized HF signalHF_(d) output from ADC 278-1. A HF select signal input to each ofmultiplexer 296-1 and 296-2 selects which of HF_(d) or the output signalfrom summer 294 are chosen as the output signal from multiplexer 296-1and 296-2. The output signal from multiplexer 296-1 is input todisturbance detector 298. Disturbance detector 298 detects a mediadefect to optical medium 106 by monitoring the data signal representedby HF_(d) or the output from summer 294 and alerts DSP 272 of a defect.A defect can include, for example, a scratch or speck of dust on opticalmedium 106.

The output signal from multiplexer 296-2 is input to mirror detector299. Mirror detector 299 provides a signal similar to that from trackcrossing detector 311, but 90 degrees out of phase. DSP 272 receives themirror signal and, in combination with other signals calculated withinDSP 272, can determine direction of motion while track seeking.

Additionally, signals A_(d) and C_(d) are received in summer 301, whichcalculates the value A_(d)-C_(d). Further, signals B_(d) and D_(d) areinput to summer 303 which calculates the value B_(d)-D_(d). The outputsignals from summer 301 and summer 303 are input to summer 305, whichtakes the difference between them forming a tracking error signal (TES)from the digitized detector output signals. The TES signal from summer305 is input to a bandpass filter 307. The output signal from bandpassfilter 307 is PushPullBP. The output signal from summer 305 is furtherinput to a lowpass filter 309. The output signal from lowpass filter 309is input to track crossing detector 311 which determines when the TESsignal calculated by summer 305 has crossed a track. The output signalfrom track crossing detector 311 is the TZC signal and is input to DSP272. In one embodiment, the signal PushPullBP is input to Wobble/PreMarkdetector 313. In some embodiments, in the writeable portion of opticalmedium 106 the tracks have a predetermined wobble which have a distinctfrequency. Bandpass filter 307 can be set to pass TES signals of thedistinct frequency so that detector 313 detects the wobble in the track.In this embodiment, the frequency of wobble in the track from detector313 can be indicative of the rotational speed of spin motor 102.

In another embodiment, the signal from gain 286 can be input to slicer315, DPLL 317, and sync mark detector 319 to provide another indicationof the speed of spin motor 102. Slicer 315 determines a digital outputin response to the output signal from equalizer 284 and amplifier 286.Slicer 315 indicates a high state for an input signal above a thresholdvalue and a low state for an input signal below the threshold. DPLL 317is a digital phase-locked loop, which servos a clock to the read backsignal so that sync marks on the tracks can be detected. Sync markdetector 319 outputs a signal related to the period between detectedsync marks, which indicates the rotational speed of spin motor 102.

In yet another embodiment, an angular spindle speed feedback indication,for example, the bemf_in signal, can be used as an indication of thespeed of spin motor 102. Each of these speed indications can be input tomultiplexer 321, whose output is input to microprocessor 270 as thesignal which indicates the rotational speed of spin motor 102.Microprocessor 270 can choose through a select signal to multiplexer 321which of the rotational speed measurements to use in a digital servoloop for controlling the rotational speed of spin motor 102.

In some embodiments, the wobble frequency of PushPullBP is in the 100kHz range (in some embodiments around 125 kHz) and therefore, withdecimation filters 292-1 through 292-6 operating at around 70 kHz, isfiltered out of signals A_(f), E_(f), C_(f), B_(f), F_(f), and D_(f).

Microprocessor 270 and DSP 272 output control signals to drivers whichaffect the operation of optical drive 100 in response to the previouslydiscussed signals from actuator arm 110 and spin motor 102. For example,a control signal from microprocessor 270 is output to spin control servomodule 302 to provide a spin control signal for controlling spin motor102. A digital servo system executed on microprocessor 270 or DSP 272 isfurther discussed below.

In embodiments of optical drive 100 with a digital servo loop forcontrolling laser power, a signal from microprocessor 270 or DSP 272 isinput to a laser control digital to analog converter to provide acontrol effort signal to the laser driver of laser servo 112 (FIG. 3). Afocus control signal can be output from either microprocessor 270 or DSP272 to a focus digital to analog converter to provide a focus controlsignal to power driver 252 (FIG. 3). A tracking control signal can beoutput from either microprocessor 270 or DSP 272 to a tracking digitalto analog converter to provide a tracking control signal to power driver252. A diagnostic digital to analog converter and other diagnosticfunctions, such as analog test bus, digital test bus, and diagnostic,may also be included. Further a reference voltage generator may beincluded to provide a reference voltage to various digital-to-analogconverters.

Microprocessor 270 and DSP 272 can communicate through direct connectionor through mailboxes. In some embodiments, DSP 272 operates underinstructions from microprocessor 270. DSP 272, for example, may be setto perform tracking and focus servo functions while microprocessor 270provides oversight and data transfer to a host computer or to buffermemory. Further, microprocessor 270 may provide error recovery and otherfunctions. Embodiments of control architectures are further discussed inU.S. application Ser. No. 09/951,947, previously incorporated byreference.

In some embodiments, DSP 272 controls tracking and focus servo systemswhile microprocessor 270 controls all higher order functions, includingerror recovery, user interface, track and focus servo-loop closings,data transport between optical medium 106 and buffer memory, and datatransfer between the buffer memory and a host, read and writeoperations, and operational calibration functions (e.g., setting offsetand gain values for offset 274 and amplifiers 276 and operationalparameters for decimation filters 292-1 through 292-6).

Referring again to FIG. 1A, servo system 118 of control system 114provides control of various functions of spin motor 102, such asspinning up spin motor 102 (start-up operation), maintaining thevelocity of the spin motor (tracking operation) and managing thevariability in the velocity of the spin motor (seeking operation). Ingeneral, the rotational velocity of spin motor 102 can be controlled invarious modes of operation. In one embodiment, a first mode of operationis the constant linear velocity mode (hereinafter “CLV mode”). Theformat of optical medium 106 may require that OPU 108 travel acrossoptical medium 106 from the OD to the ID with optical medium 106spinning such that the data directly under OPU 108 travels at a constantlinear velocity during read and/or write operations to provide andmaintain a constant data rate to R/W data processing 116.

As the movement of actuator arm 110 causes the position of OPU 108 tovary along a radius of optical medium 106 during read and writeoperations, servo system 118 operates to adjust the spin velocity ofspin motor 102 to cause optical medium 106 to spin faster or slower. Inanother embodiment, in a second mode of operation, the seek mode,actuator arm 110 can progress from the OD to the ID of optical medium106 in search of a specific track or address. The seek mode can becharacterized as requiring significant spindle velocity changes.

As described below, in the various modes of operation, each track oraddress on optical medium 106 corresponds to a specific desired periodof rotation. In CLV mode, the current period of spin motor 102 at theaddress corresponding to the position of OPU 108 is compared to areference period that corresponds to that address. From this comparison,it is determined whether rotor shaft 104 is going too fast or too slow.

In seek mode, a target period for an address to be obtained by seekingis compared to a current period corresponding to the current position ofOPU 108 on optical medium 106. From this comparison, it is determinedhow much rotor shaft 104 must be accelerated or decelerated to reach thetarget period at the seek address. As detailed below, a lookup tablemodule 306 (FIG. 5) provides the reference periods for this comparison.

In one embodiment, seek mode is used when the target spin speed isdifferent from the current spin speed, for example, by more than 100RPM. This is usually as a result of a seek command directing OPU 108 toa different radial position. In seek mode, control system 118 commandsmaximum acceleration if the motor speed is too slow and commands maximumdeceleration if the motor speed is too fast. Seek mode can be disabledas soon as the speed is faster than the target speed when speeding upand as soon as the speed is slower than the target speed when slowingdown. After seek mode is disabled, a proportional plus integral (P+I)control system, described in detail below, is used to perform the speedcontrol.

Referring now to FIG. 5, a functional block diagram is shown of a spincontrol servo system 300 for controlling spin motor 102 in accordancewith the present invention. Spin control servo system 300 can includecontrol module 302 serially coupled to drive module 253, which isoperationally coupled to spin motor 102. In some embodiments, controlmodule 302 can further include lookup table module 306, controllermodule 308, speed lock detector module 310 and summing module 325. Inthis embodiment, with no intent to limit the invention thereby, controlmodule 302 is described as being implemented in firmware algorithmsrunning on microprocessor 270. As evident to one of ordinary skill inthe art, control module 302 can be implemented in hardware as well. Inthis embodiment, the circuitry and processing capability of controlmodule 302 is resident on control chip 250 (FIG. 3).

Referring again to FIG. 5, in one embodiment, control module 302receives a physical sector address (PSA), which is generally indicativeof the location of data on optical medium 106 (e.g., the unique addressof each track and sector, FIG. 1C). The PSAs can be encoded at thebeginning of each sector in the Mastered Media portion of optical medium106. On writable media the Pre-mastered Address (PMAD) is encoded in thetrack wobble signal, which yields the same information as the PSAs.Hereinafter the PSA and PMAD can be used interchangeably to refer to anaddress of a track or sector on optical medium 106.

Control chip 250 reads the PSAs anytime the tracking servo is activelyfollowing a track. As described below, lookup table module 306 includesa list of reference periods that correspond to a spin speed when readingor writing at the corresponding PSA. A substantial match between theReference Period from lookup table module 306 and a measured Spin Periodindicates that spin motor 102 is substantially spinning at the desiredRPM. When reading or writing large amounts of data, lookup table module306 can be used to slowly adjust the Target Spin Period as the PSAnumbers continue to increment.

In one embodiment, target PSA 304 a, shown in FIG. 5, can be used todetermine the Target Spin Period for the read or write operation thatoccurs at the end of a seek operation. In general, the system wants toread or write to the address represented by target PSA 304 a. CurrentPSA 304 b represents the PSA last detected during reading and writingoperations before movement to a new position. Thus, target PSA 304 a andcurrent PSA 304 b provide feedback used to determine the desired spindlevelocity at any given OPU 108 position. The radial position can betranslated to an RPM, since the Linear Velocity of the track is relatedto the RPM and the radial position of OPU 108. In some embodiments,control module 302 receives a media type indication 304 c from the DSA(FIG. 1C) that provides information about optical medium 106, such asthe type of media being used and the PSA/PMAD boundaries for thepre-mastered and mastered portions. As described below, media typeindication 304 c ensures that data is acquired from the proper datatable corresponding to either the mastered or pre-mastered portions ofoptical medium 106 as appropriate.

Lookup table module 306 includes logic capable of receiving input targetPSA 304 a or current PSA 304 b and media type indication 304 c. The PSAsare represented by an integer number, which can be used as an Index toenter lookup table 306 and locate reference data, such as a referenceperiod, a proportional gain (Kp) and integrator gain (Ki) correspondingto the PSA number.

In one embodiment, a correction factor can be applied in the event thatcontroller module 308 misses a reading of one or several PSAs. Forexample, a PSA can be delivered every 2 msec. Thus, if 4 msec havepassed since controller module 308 reads a PSA, the algorithm adds 2 (4msec/2) to the last PSA number read. The corrected PSA can then be usedas the Index for lookup table module 306 to provide the reference datafor controller module 308.

In one embodiment, lookup table 306 can be divided into a first and asecond lookup table. The first lookup table can include reference datacorresponding to the PSAs found in the pre-mastered portion of opticalmedium 106. The second lookup table can include reference datacorresponding to the PSAs found in the writeable portion of opticalmedium 106. Media type indication 304 c can be used to direct the systemto the proper table. In this embodiment, the first and second lookuptables allow optical disk system 100 to operate in a dual media mode.

Physical sector address 304 a and PSA 304 b can be received at any ratebased upon such parameters as the design of spin motor 102 and servosystem 118. For example, PSA 304 a and PSA 304 b can be received incontrol module 302 at an average rate of about two milliseconds.

The PSA number indicates a row in lookup table 306. The PSA Index is anumber corresponding to an element in a row, 1-N, in lookup table 306.To calculate the PSA Index, the PSA number is divided by the number ofPSAs per row in the lookup table. For example, the portion of the tableincluding the reference period table can be indexed by 256 PSAs per row.Thus, if the PSA number received is 2500 and the lookup is for thereference period, the PSA Index is 2500/256=9 (integer divide).Accordingly, the target spin period is the 9^(th) element in the table.

Lookup table module 306 can include logic to provide an integrator gain(Ki) and a proportional gain (Kp). As detailed below, in one embodiment,Ki and Kp are functions of the reference period corresponding to eachPSA. Gains Ki and Kp can be formulated using an equation that accountsfor measuring Spin Period (proportional to 1/RPM) and controlling SpinSpeed (RPM). In one example, Ki and Kp can be determined using theequations as follows:Ki=K ₂/(K ₁ /RPM)Kp=K ₄/(K ₃ /RPM)

Where K₁, K₂, K₃, and K₄ are integer constants, which can be determinedby simulation of the spin control system.

Alternatively, any number of methods could be used to generate the Kiand Kp signals, such as, for example, simulating the speed control loopat each target Spin Period.

In accordance with the present invention, lookup table module 306provides for faster operations to be performed by microprocessor 270,since a 1/period calculation is not necessary to determine spin RPM.

Summing module 325, including summing circuitry, is provided to comparethe Reference Period from lookup table module 306 for a given PSA to aspin period measurement generated from a speed interrupt pulse providedfrom drive module 253, as described below. The time is recorded at eachoccurrence of the speed interrupt pulse received by summing module 325.The time is compared to a previously recorded time corresponding to apreviously received speed interrupt pulse, the difference in timerepresenting the spin period measurement. Summing module 325 generates afeedback element representing the Period Error between the ReferencePeriod and the Measured Period of spin motor 102.

Speed Lock Detector Module 310 can include logic to determine if thePeriod Error is acceptable to allow the read and write functions toadequately perform. For example, in one embodiment, speed lock detector310 can be a comparator that provides a check to determine if thefeedback element is substantially proximate to the Reference Period atthe corresponding PSA to be able to begin or continue to performread/write operations, as desired. When appropriate, speed lock detector310 outputs a Lock Flag 322, which is a global flag that provides anindication that the speed control is at the desired level for read orwrite operations. In one embodiment, Lock Flag 322 can be used todetermine when the Spin Up is complete, and can be used to initiate spinsystem recovery as disclosed in U.S. patent application Ser. No.09/568,450, incorporated herein by reference.

Controller module 308 performs an integration function, which providesan output command, used by drive module 253 to, in turn, provide a driveoutput, used to start, stop, and quickly change the spin speed of spinmotor 102, as desired.

Controller module 308 is provided with Ki and Kp from lookup tablemodule 306 that correspond to a PSA. Typically, controllers used inmotor control servos, such as in hard drives, have a fixed sampleperiod, since the target RPM is constant. Accordingly, in typicalcontrollers a fixed gain for a proportional and a fixed gain for theintegral controller can be used that provides the dynamics or bandwidthrequired to provide controls solutions.

In accordance with the present invention, after the initial spin up ofspin motor 102, the period of optical drive 100 can vary as spin motor102 changes velocity, for example, from about a 1500 RPM to a 4500 RPM.Controller module 308 keeps the servo control bandwidth constant as RPMsvary by using different and variable proportional and integral gainingfor all sample rates. As mentioned, the Period Error is input tocontroller module 308 from summing circuitry 325. Controller module 308updates the Integrator value, as necessary, by incrementing theIntegrator value by the product of Ki and the Period Error. Similarly,controller module 308 increments the proportional value by calculatingthe product of Kp and the Period Error to generate the output command.Integrator Value=Integrator Value+(Period Error*Ki)Output Command=(Period Error*Kp)+Integrator ValueThus, the Integrator value is the sum of the product of Ki times thePeriod Errors for all time since the Integrator Value is initialized.

Controller module 308 provides the output command to drive module 253,which allows drive module 253 to determine the amount of voltage toapply to change the speed of spin motor 102. In one embodiment, theoutput command can be a 9 bit number, which can be sent over a serialinterface to drive module 253.

Drive module 253 is provided to interface directly to spin motor 102 andcontrol the electrical commutation of spin motor 102 once the spin motorbegins to run (i.e., after start module 400 (FIG. 6) is performed). Aspreviously mentioned, drive module 253 provides the spin interruptpulses used to measure the Spin Period and control Spin Speed.

Drive module 253 provides a pulse or an interrupt, which corresponds toeach occurrence of a BEMF zero-crossing in spin motor 102, as describedbelow. Drive module 253 detects the BEMF zero crossing on the coil leadsthat drive spin motor 102 to determine rotor position. In oneembodiment, the BEMF zero crossing interrupts occur at a rate dependingon the type of spin motor. For example, in a twelve-pole motor the BEMFzero crossing interrupts occur at a rate of 6 times per revolution.However, the spacing between interrupts can vary because the magneticpoles on the rotor are typically not perfectly spaced during motormanufacture.

Embodiments of an operational sequence of events for controlling spinmotor 102 will now be described.

In accordance with the present invention, it is understood that spinmotor 102 must achieve a nominal spin velocity to generate detectableBEMF zero crossings. At initial operation of optical drive 100, spinmotor 102 can be stationary. In one embodiment, as illustrated in FIG.6, a start-up logic 400 is provided to begin the movement of spin motor102. For example, when spin motor 102 is stationary, the initialstart-up sequence of spin motor 102 can be an open-loop sequence (i.e.,no feedback) until the motor reaches the nominal speed.

FIG. 6 is a flow diagram illustrating an embodiment of start module 400for causing the initial movement of spin motor 102 of FIG. 1B inaccordance with the present invention. In general, start module 400includes logic that initiates movement of spin motor 102 from anon-moving, non-spinning or stationary condition to a moving, spinningor non-stationary condition. The non-moving condition may include anytime the rotation of spin motor 102 is inadequate to provide efficientoperation of optical drive 100. Start module 400 can be implemented anytime that spin motor 102 needs to spin up optical medium 106.

In most embodiments, start module 400 has substantially no informationat startup about the position or state of spin motor 102 or thealignment of rotor shaft 104. Start module 400 initializes the systemhardware to set up the operational parameters.

In action 404, a plurality of registers, such as a current limiter,torque optimizer, fine torque optimizer, Kval, lockspeed, drive mode,and closed loop, coast, and brake, are initialized with operationalparameters. Generally, the parameters provide information regarding theamount of current to use.

In action 406, an alignment phase is provided in which rotor shaft 104is caused to move to a known state or position. In one embodiment, theknown state is such that a specific sequence of applied voltages causesthe spin motor 102 to generate torque and accelerate in the desireddirection. In one embodiment, spin motor 102 can have 6 states perelectrical cycle and, 6 electrical cycles per revolution. Thus, in thisembodiment it takes 36 state transitions to move spin motor 102 onerevolution.

In action 406 a of alignment phase 406, drivers are turned on and afirst coil in spin motor 102 is selected to represent the initial stateor first state, which causes the first coil to be initialized or poweredup. The drivers are the circuits in power driver 252 that cause currentto flow in the coils. In powering up the first coil, rotor shaft 104 canbe made to move, such that rotor shaft 104 is jogged to an initialposition. In one embodiment, a pair of drivers can be connected to eachof the three motor coils. The state of sequencer 326 (FIG. 1B)determines which drivers are turned on and whether the drivers pull thecoil line to ground or to a Power Supply. If a specific coil has currentflowing through it, the specific coil will attract the rotor to a givenposition. The rotor stops in this position until the next coil isenergized, which causes the rotor to move to the next position. If thisnext coil stays energized with a fixed current then the rotor will stopin this next position.

In action 406 b, start module 400 pauses long enough to allow the motorto move to the aligned position and settle down. The duration of thepause can be any desired time, such as between about 100 millisecondsand about 300 milliseconds.

In action 406 c, a second state is achieved by powering a second coilpositioned adjacent to the first coil in the preferred direction ofrotation. In one embodiment, the powering of the second coil causesrotor shaft 104 to move slightly in the preferred direction. Thepowering up of the second coil substantially ensures, for example, thatif spin motor 102 is in a very low torque position (i.e., high friction)during the first state, enough torque is generated to align rotor shaft104.

In action 406 d, the routine in module 400 pauses again for a timeperiod long enough to allow spin motor 102 to settle down, for example,between about 100 and about 300 milliseconds.

Advantageously, alignment phase 406 of start module 400, substantiallyensures that spin motor 102 is locked into a known fixed position and isready to be rotated in a known direction. Unlike many typical spinmotors, in some embodiments, since there is no physical contact betweenoptical medium 106 and OPU 108, spin motor 102 does not require reverserotation protection to prevent reverse movement that could damage, forexample, OPU 108 and optical medium 106.

After completion of alignment phase 406, start module 400 begins a firstacceleration phase. First acceleration phase 408 is open loop and occursbefore spin motor 102 is moving fast enough to be monitored by drivemodule 253. In one embodiment, acceleration phase 408 provides an openloop step sequence to accelerate spin motor 102 to the nominal RPM, suchas from about 900 RPM to about 1000 RPM.

In one embodiment, the acceleration of spin motor 102 can be made tofollow a pre-designed acceleration profile. For example, the open loopstartup runs spin motor 102 by timing the commutation steps. Since theload (i.e., the inertia of the optical medium 106) can be approximated,the open loop startup can be simulated. The simulation can yield thesequence of timing events. At the end of the timing sequence, the RPM ofspin motor 102 can be made to match that of the simulation.Advantageously, the acceleration profile can be designed such that spinmotor 102 is capable of accelerating at the rate of the profile underworst case conditions.

During acceleration phase 408, a sequence loop is initialized and madeto accelerate spin motor 102 by stepping the motor through electricalstates. During each iteration through the sequence loop, spin motor 102is stepped to the next electrical state with a time delay between eachsuccessive state being made shorter using a variable delay. The numberof iterations required to achieve the final RPM can be determined fromthe given acceleration profile. In one embodiment, the sequence loopcontinues for 1 to N iterations and/or until spin motor 102 has reachedthe nominal RPM. In some embodiments, the sequencing loop is made toperform from between 10 to 50 iterations, for example 25 iterationsbefore reaching the nominal RPM.

Once spin motor 102 is rotating at the nominal RPM, start module 400begins a process (actions 410-418) for synchronizing drive module 253 tothe behavior of spin motor 102.

In action 410, drivers are floated with no load (i.e., turned off) andset to open loop, which means that spin motor 102 is coasting atapproximately the nominal RPM. While coasting spin motor 102 may slowdown due to friction and the like.

An initial Run Voltage is set during action 412 at a voltage sufficientto keep spin motor 102 operating at or near the nominal RPM to keep themotor spinning until the speed control firmware is enabled.

Action 413 a of start module 400 enables the BEMF interrupt detection indrive module 253 after entering the coast phase. The BEMF detectioncapability in drive module 253 is enabled, such that drive module 253begins to detect the BEMF zero crossings and provides BEMF interruptpulses to summing module 325. Once at least two BEMF interrupts aredetected (action 413 b) drive module 253 can begin closed loop motorcontrol. In an alternative embodiment, spin motor 102 can be allowed tocoast for a fixed time duration, for example, 20 milliseconds, toprovide enough time for at least two BEMF interrupts to be detected.

In action 414, drive module 253 is set to a sine drive mode. While spinmotor 102 is coasting, the chip commutation, the voltage between a pairof windings, the magnets and the rotor create a sine wave variation oneach of the windings. In this state, the voltage on the windings of spinmotor 102 can be an AC waveform induced by the rotor magnets moving bythe stator coils (i.e., BEMF). In operation, drive module 253 detectsthe BEMF zero crossing and initiates a pulse or BEMF interrupt. The BEMFinterrupt causes a clock to record the time. At the next BEMF zerocrossing, drive module 253 initiates a second pulse, which again causesthe recording of the time. The difference between the two recordedtimes, indicates the period of the sine wave. In one embodiment, drivemodule 253 detects the BEMF zero crossings on one of the coils using,for example, an analog comparator circuit. The period indicates how fastspin motor 102 is rotating. Once the period is known, drive module 253starts an internal state machine, which can commute spin motor 102. Thestate machine is hardware that generates the proper sequence of voltagesapplied to the windings of spin motor 102 to keep spin motor 102spinning.

In action 416, drive module 253 provides a delay for a fixed timeduration, for example, about 200 milliseconds. The delay is provided toallow the internal state machine to settle to the spin period beforeapplying a rapid acceleration command. The delay ensures that the statemachine does not lose synchronization.

After the delay, drive module 253 can be further synchronized topredetermine approximately where the next window for a BEMF zerocrossing will occur. In this embodiment, the window is not a fixed time,but rather the window is a percentage of the last measured BEMF zerocrossing period. If the window is loose (i.e., too large), the spincontrol becomes inefficient since spin motor 102 continues to coast (andslow down) while looking for the BEMF zero crossing. Better spin controland commutation is achieved having the search window as tight or smallas possible. Drive module 253 searches a very narrow window for zerocrossings using a modulating pulse. For example, drive module 253 causesa chopped voltage to be input into a coil of spin motor 102, such thatthe voltage chopping can be measured to know about where the zerocrossing is going to occur. Drive module 253 shuts off that one coilwhile it is looking for the crossing

In action 418, drive module 253 provides another delay for a fixed timeduration, for example, 200 milliseconds. The second delay allows drivemodule 253 to settle, such that the velocity of spin motor 102 and theBEMF circuitry are synchronized. In this embodiment, after completion ofaction 418, spin motor 102 is performing under BEMF commutation, whichmeans drive module 253 is detecting BEMF zero crossings and spin motor102 remains synchronized with the interrupts continuously.

Once the spin motor 102 is under BEMF commutation, start module 400enters into a second acceleration phase, where spin motor 102 is made toaccelerate to a predetermined operational RPM. The operational RPM isselected to be fast enough to prevent inadvertently writing to opticalmedium 106.

As previously mentioned the BEMF zero crossing signal generates aninterrupt every time a BEMF zero crossing occurs and summing module 325measures the period between the crossings. In action 420, a spininterrupt module is set and variables are initialized. Spin interruptmodule 420 provides for the actual speed control of spin motor 102. Spininterrupt module 420 includes a slew mode, described below, whichaccelerates (or decelerates) the speed of spin motor 102 to approach atarget RPM. When called from start module 400, the target RPM is theoperational RPM. A detailed description of spin interrupt module 420 isprovided below with reference to FIG. 7.

In action 422, a state machine is set in speed lock detector 310 toindicate that the operational RPM has been achieved.

In action 424, the system waits to receive a spin event or time outsignal. The time out signal signifies that no interrupts have occurredin a predetermined period indicating that spin motor 102 is not spinningproperly. A spin event signifies that the spin up module has completedit's function.

In action 426, start module 400 checks the state of lock detector 310.If lock detector 310 is locked then everything is working properly, withspin motor 102 spinning at the desired speed. If lock detector 310 isnot locked, then the spin up has failed, which can cause optical drive100 to enter into an error recovery mode of operation. An exemplaryerror recovery system is disclosed in application Ser. No. 09/950,398,which is herein incorporated by reference.

Start module 400 can require as much time as necessary to adequatelystart the movement of spin motor 102. In one embodiment, every time spinmotor 102 is started and start module 400 is performed, it may take fromapproximately 200 milliseconds to about 1 second; for example 500milliseconds total time to spin up and place spin motor 102 under BEMFcommutation.

Once rotor shaft 104 of spin motor 102 is spinning at a nominal velocity(i.e., a velocity at which a BEMF crossing can be detected), spincontrol servo system 300 in accordance with the present invention canmaintain the speed control of spin motor 102 (CLV mode) or canaccelerate or decelerate (seek mode) to the speed required for newlocations on optical medium 106. As described in greater detail below,regardless of the drive mode, the architecture of optical drive 100 and,in particular spin control servo system 300, provides various ways tomeasure and control the velocity adjustment.

FIG. 7 shows a block diagram of a spin interrupt module 420 executed onspin control system 300 shown in FIG. 5 in accordance with the presentinvention. Spin interrupt module 420 provides the ability to measure thespeed of spin motor 102. Spin interrupt module 420 can be called fromstart module 400 to provide speed control allowing spin motor toaccelerate to the operational RPM. Spin interrupt module 420 can also becalled when a large speed adjustment is needed, such as in a seekingoperation or when a small speed adjustment is needed, such as duringnormal operation.

Although the BEMF interrupt is enabled during start up module 400, it isexecuted every time a BEMF interrupt occurs. In one embodiment, duringCLV mode the BEMF interrupt happens 6 times per motor rotation atapproximately every ⅙ of a rotation. For example, in action 500 BEMFinterrupts are initiated 6 times per revolution by the BEMF crossingsignal from drive module 253. At the time spin control interrupt 500occurs, drive module 253 is already locked into the value of the timingthat drive module 253 is using to measure the period.

In one embodiment, in action 502, logic can be provided that provides a“Watchdog” function, which records if and when interrupt 500 hasoccurred. By setting the Watchdog, error handling routines used tomonitor spin motor 102 can be informed that the interrupts areoccurring. The Watchdog function monitors the BEMF interrupts anddetermines if the BEMF interrupts stop occurring or if the BEMFinterrupts start occurring too frequently. In either of thesesituations, the Watchdog indicates that an error has occurred and anerror recovery action must be taken. For example, in the event that spinmotor 102 is inadvertently stopped, spin control system 300 (FIG. 5) canbe made to cease operation (i.e., freeze), since the watchdog logic (andsubsequently, the error handling routines) does not sense that the nextinterrupt has occurred. The watchdog logic also monitors the rate of theoccurrences, to ensure that the interrupts occur at some minimum rate.

In some instances, when spin motor 102 ceases to operate, BEMF interruptpulses output from drive module 253 can become too close together intime to be considered accurate measurements. In action 504, spin controlinterrupt module 420 provides a checker to ensure that the period is nottoo short and, to check for a reasonable RPM value within the operatingparameters of the spin motor 102. For example, a spin speed range forspin motor 102 may be between about 1800 RPMs to about 4500 RPMs. Thus,in this embodiment, the RPM checker could be set for a maximum allowableRPM of 6000 RPMs. Thus, in action 504, if the checker senses a periodthat would represent a velocity of 6000 RPMs or more, the checkerimplements a counter that registers that a “bad period” was sensed(action 506). Any number of bad periods can be allowed before initiatingmajor error recovery algorithms, for example five bad periods in a rowmay be allowed before initiating major error recovery (action 508). Themajor error recovery disables the spin interrupt which then would causean error recovery state machine to restart spin motor 102 (action 510).Once the period is believable the spin control interrupt module 420continues its operation.

In action 512, a record of spindle position is maintained, for example,to know the angular position of optical medium 106. To accomplish thisan Index Counter is used, which keeps track of the BEMF interrupts perrevolution. In one embodiment, once the Index Counter senses sixconsecutive BEMF interrupts, the rotor is assumed back to the sameposition. The Index Counter can be used for several purposes. In oneembodiment, the Index Counter is used to count revolutions during seeksto correct for spiral. For example, during a seek in the OD direction, atrack can be added to the seek length for every index counted during theseek operation. Another use of the Index Counter is to synchronize theoutput waveform for repeatable runout feedforward control. Therepeatable runout feedforward control requires an index and asub-period.

In action 514, a spin sub-period is calculated to provide a betterposition resolution of the angular position of the spindle. Thesub-period is equal to the last measured period divided by a numberdetermined by the desired sub-period resolution, which in this example,is six. The sub-period can be updated every spin period. Advantageously,the sub-period provides a feed forward signal for the tracking andfocusing, which follows runout. Thus, although the sub-period is notused in control of spin motor 102, action 514 is shown as part ofinterrupt module 420, since while controlling spin motor 102 thesub-periods can be created, to provide the absolute angular orientationand timing indicators with respect to orientation, tracking and focus.The sub-periods can also be used as inputs for calibration purposes.

In action 516, a speed control module is initiated as discussed indetail in FIG. 8. Generally, OPU 108 follows a spiral and moves inwardone track per revolution.

Accordingly, in action 518, a “jump-back” algorithm can be set whichcauses a jump-back of one track every revolution to revisit a track. Thejump-back algorithm can be used to maintain radial position at alocation on optical medium 106 or to re-read a small portion of the dataon optical medium 106. Optionally, the jump-back can be set to twotracks every two revolutions or, for example, N tracks every Nrevolutions. Thus, a timer or index is set, which is incrementallymaintained for every one revolution of the motor to keep a count of thenumber of revolutions to determine whether it is time to do anotherjump-back. The Jump-Back is synchronized with the rotation rate by theBEMF interrupt.

Optionally, a diagnostic tracing can be enabled in action 520.Diagnostic testing can be used in development and manufacturing, tounderstand the performance of spin control servo system 300. Forexample, every time that the BEMF interrupt occurs, data can becollected which characterizes the performance of spin control servosystem 300, such as the measured spin period, target spin period, andoutput of controller 308. In addition, diagnostic tracing can be used tomonitor the acceleration and deceleration of spin motor 102 when thetarget spin period is changed. For example, if diagnostic tracing isenabled, logic is provided which records the variables as they are atthe time of the BEMF interrupt. The variables can be stored in an arrayto be downloaded into a diagnostic system.

In action 522, a Flag can be set the first time the BEMF interruptoccurs. If the Flag is set the routine enters into the normal speedcontrol mode (Action 524). Accordingly, the first time through theroutine determines that the startup has been completed and that aninterrupt has been received.

In action 526, the routine returns to start module 400 (FIG. 6). Aspreviously mentioned, at the end of the startup routine, the BEMF isenabled and the routine waits for a time out signal. If the BEMFinterrupt occurs within a reasonable period of time, variables arecreated, which allow other firmware state machines to monitor the spinfunction and initiate error recovery, if necessary. (i.e., the Watchdogfunction).

FIG. 8 shows a spin speed control module, which can be called from spincontrol interrupt module 420 in action 516 (referred to hereinafter as“spin speed module 516”) of FIG. 7 according to the present invention.In one embodiment, spin speed module 516 can be called six times perrevolution to perform the actual speed control.

In action 600, spin speed module 516 is called once per BEMF interrupt.In action 602, the measured period is compared to a reference period todetermine the difference between the two periods and generate a perioderror.

In action 604, an index checker determines whether or not the period isan index period as calculated in action 512 of FIG. 7. The Index Periodis the period measured when the index counter gets to the index count(for example, every 6 interrupts-one per revolution).

In action 604, if the period is an Index Period, an index is set to I/Ohigh (Action 606), otherwise spin speed module 516 continues. This I/Ois used to trigger a scope once per revolution of spin motor 102 fordiagnostic purposes.

In action 608, in one embodiment, spin speed module 516 limits the sizeof the period error calculated in action 602. The error is limited toensure that the system processor, whether a 16 bit, 32 bit or higher bitprocessor, does not overflow the arithmetic operations. The error islimited by comparing the period error to a Minimum/Maximum limit. If theperiod error is larger than the Maximum, the period error is set to themaximum limit. If the period error is smaller than the Minimum, theperiod error is set to the minimum limit. A reason to limit the perioderror is to prevent the math from overflowing.

Spin speed module 516, initiates slew mode, which can be used to quicklychange the velocity of spindle motor 102 during, for example, duringstart-up operation, seeking operations or when optical drive 100experiences a shock, which causes optical drive 100 to be knocked offtrack. The slew mode is set to accelerate or decelerate spin motor 102to a relatively high or low speed. Slew mode does not requireintermediate speed control, since the target speed is based on where thespeed is going to end up after spin motor 102 is spun-up for a given PSAnumber. Instead, slew mode uses a full on or full off control. Slew modecan be optimized to accomplish the speed change quickly with minimumover/undershoot.

In action 610, a decision is made as whether slew mode is active. Slewmode is made active when it is determined that a new speed is requiredthat is more than 100 RPM higher or lower than the present speed. Action610 checks the slew mode flag to determine if slew mode is active. Ifslew mode is active, another decision must be made, in action 612, as towhether acceleration or deceleration is desired. In one embodiment, todecelerate a checker first determines if the period is less than thetarget period (action 614). If it is not, then the speed is too fast. Inaction 616, the speed controller output is set to zero to provide amaximum deceleration. The routine exits slew mode and continues at 618.

Again referring to the deceleration embodiment, in action 614, when theperiod is greater than the target period, the desired speed is presumedto have been achieved. The next time an interrupt is received, theroutine will not enter into slew mode.

In action 620, the integrator function is initialized with the startingvalue that has been determined to minimize the transient and a non-slewmode is set. Accordingly, when the next interrupt occurs, the routinewill not enter slew mode at 610.

In action 622, the control output is set with the value received fromthe Integrator rather than a zero as when in slew mode. The routineexits slew mode and continues at 624.

Referring again to action 612, if acceleration is desired adetermination is made at action 626 whether the period is less than thetarget period .(i.e., the speed required either at the end of a seek orfor initial spin-up). If the period is not less then the target periodthen the velocity is too low. In action 628, the control output is setto maximum acceleration. The routine exits slew mode and continues at630.

In action 626, if the period is less then the target period, theintegrator function is initialized with the starting value that has beendetermined to minimize the transient and the mode is set to not slew(action 620). Accordingly, when the next interrupt occurs, the routinewill not enter slew mode at 610.

In action 622, the control output is set with the value received fromthe integrator function rather than a zero as before during slew mode.The routine exits slew mode and continues at 624.

Referring again to action 610, if slew mode is not selected then theroutine enters a control package (action 632), which includes theactions used to control velocity in the CLV mode. In action 632 a theintegrator function is updated to a current integrator function value.The current integrator function value is equal to the sum of the oldintegrator function value and the integrator gain Ki (FIG. 5) multipliedby the period error. The integrator gain Ki is based on the targetperiod.

In action 632 b the integrator function value is limited to +/− amaximum rate to prevent later arithmetic overflows. The limitingalgorithm compares the integrator value to + and − a constant. If theintegrator function value is greater than + Maximum then the functionvalue is set to the Maximum. If the integrator function value is lessthen − Maximum then the value is set to the − Maximum. The maximum islarge enough to allow the integrator function to generate a largecontrol effort and keep the integrator value small enough to preventarithmetic overflows. The integrator function value is limited to fullscale control output to prevent the integrator from wind-up andarithmetic overflow.

In action 632 c the proportional term is calculated. The proportionalterm is the proportional gain Kp (FIG. 5) multiplied by the perioderror. In action 632 d, the sum of the Ki and Kp terms may be divided bya factor, if necessary, to correct for units.

In action 632 e, drive module 253 can command the voltage. In oneembodiment, the output of drive module 253 is limited to a 9 bit controlregister to ensure that no more than full scale is output.

Once through speed control package 632, the speed control is complete.In action 636, a checker decides whether or not the velocity of spinmotor 102 is in an acceptable range to the target speed to set the lockflag. The checker ensures that the period error is greater than somevalue and less than some other value. The value to be checked can be afunction of the target spin period. In one embodiment, the current lockrange is a value approximately 2% of the target spin period. In action638, if the period is less than the lock range value the lock flag isset, or else, in action 640, if the period is greater than the lockrange value, the lock flag is cleared.

In action 642, a check is provided to indicate if the system is in anindex state. As previously mentioned, the Index is set after a number ofinterrupts are received. For example, the Index can be incremented afterevery revolution (i.e, after receiving six BEMF interrupts). If thesystem is not in an index state, the routine can continue withoutentering into CLV mode.

In action 644, the system is in an index state, and the I/O that hadbeen set high in action 606 is turned off or set to low. This creates ashort pulse going out through an I/O line every time index occurs (e.g.,every six BEMF interrupts).

In action 646, a checker determines if PSAs are being read to determineif the CLV routine is necessary. During spin up and during seek, thesystem cannot read PSAs. Thus, in action 646, if PSAs are not beingread, the routine returns to 648 and continues. In action 646, if PSAsare being read, the routine enters action 650 to update the CLV targetas described with reference to FIG. 9. Once the CLV target is updatedthe routine returns to point 652 and continues.

FIG. 9 shows an embodiment of a spin speed control module 650 calledfrom spin speed module 516 of FIG. 8 according to the present invention.Spin speed control module 650, called once per revolution (i.e. when inan index state), adjusts the spin speed as optical medium 106 isspiraling along, such that the CLV is maintained if a valid PSA isreceived from optical medium 106. When a valid PSA is read from opticalmedium 106, an interrupt occurs that processes the PSA and sets flags toindicate whether or not a valid PSA exists for a reasonable periodvalue. The PSA valid flag is reset to zero whenever the system is nottracking. Accordingly, if the system has performed, for example, a seek,the last PSA read is considered erroneous, since the PSA does notpertain to the current location anymore.

In action 702, if no valid PSA has been received since the systemstarted tracking the speed control algorithm bypasses the remainder ofthe routine and continues at 726. If tracking is closed and the systemis reading PSAs, then the valid flag is set and a time stamp isrecorded, which allows speed control module 650 to determine the age ofthe PSA. In action 704, since PSAs can occur every two milliseconds,speed control module 650 can update the PSA number if necessary (i.e.,the PSA number is old) and the time of the reading is known.

In action 706, a check is made to determine the age of the PSA number.The checker compares the current time stamp to the old time stamp, ifmore than a specific check time has elapsed, for example, more than 48milliseconds, it is assumed that the PSA is no longer valid. Theremainder of speed control module 650 is bypassed and the routinecontinues at 726.

In action 706, if the elapsed time is less than the specific check time,for example less than 48 milliseconds, the PSA number can be updated. Inaction 708, the PSA number is incremented by one for every twomilliseconds of elapsed time since the last reading.

In action 710, the PSA maximum is limited to prevent overrun of lookuptables module 306 (FIG. 5). PSA number velocity versus PSA number, isnot necessarily a linear function, since it is equal to 1 over radiusfunction. in one embodiment, the PSA is compared to a constant known tobe the largest valid PSA. If the PSA is larger than this maximum validPSA then it is set to this maximum before the table lookup occurs.

As OPU 108 spirals in from the OD to the ID, which takes it to higherPSA numbers, the incremental speed difference per revolution becomesgreater. In one embodiment, lookup table module 306 (FIG. 5) is dividedinto two sections. The first section provides PSA numbers thatcorrespond to positions on the outer radius. These positions can havelower resolution, since they do not change quickly relative to positionson the inner radius. The second section provides PSA numbers thatcorrespond to positions on the inner radius. The positions on the innerradius change much quicker than positions on the outer radius andtherefore the resolution is higher. The two section lookup table module306 conserves table space and keeps the maximum linear velocity errorsmall.

In action 712, the PSA is compared to a reference number. The referencenumber is determined to correspond to the largest PSA in the lowresolution table. For example, the reference number can be any constant,for example, 10240. If the PSA is greater than the reference number, theroutine continues to action 714 where the second section or highresolution look up table is used. In action 712, if the PSA is lowerthan the reference number, then the first section or lower resolutionlook up table is used. The lookup table, thus provides the target periodfor spin motor 102 at a given PSA and the controller gain coefficientsthat are desired for stable speed control at the given radius, forexample, Ki and Kp.

As mentioned above, the Table Index is a number corresponding to a rowin lookup table 306. In one embodiment, to calculate the Index in thehigh or low resolution table, the PSA is divided by the number of PSAsper row, which may range up to about 1024. For example, in oneembodiment, the low resolution spin period table is indexed by 256 PSAsper row and the high resolution spin period table is indexed by 128 PSAsper row. Similarly, for example, the Ki and Kp tables can be indexed by1024 and 512 PSAs per row, respectively.

In action 720, the calculated Index is limited to the range of the tableto ensure that the table limit is not exceeded for any reason.

In action 722, a check is provided to determine if the index isdifferent than the previous index received during a previous revolution.If the table index has not changed, the routine continues 726. If thetable index has changed and the lower resolution table has been used,the PSA number has to change by one count before the table index isupdated. If the table index has changed and the higher resolution tablehas been used, the PSA number has to change by one count before thetable index is updated. The index is checked for a change to reduce thefirmware computation time, since in most instances the index will nothave changed. No table lookup is required if the index has not changed.

In most embodiments, the index will remain the same between revolutionsand the routine can continue to 726. However, in action 722, if theindex has changed, the routine looks up a new period integrator Ki for aproportional gain Kp and puts it in global variables available to all ofthe modules to be used in spin control interrupt 420 (FIG. 7) and spinspeed module 516 (FIG. 8).

FIG. 10 is a block diagram of a PSA/PMAD feedback system 800 inaccordance with the present invention. In one embodiment, OPU 108 cantravel across optical medium 106 from the OD to the ID or from the ID tothe OD with optical medium 106 spinning such that the data directlyunder OPU 108 travels at a constant linear velocity during read and/orwrite operations to provide and maintain a constant data rate to RIWdata processing 116. In this embodiment, the PSA/PMAD values on opticalmedium 106 are equally spaced apart along a spiral path. PSA/PMADfeedback system 800 ensures that the constant linear velocity of thedata under OPU 108 is maintained by ensuring that the reading of thePSA/PMAD values occur at a substantially constant rate.

In action 802, PSA/PMAD values are read from optical medium 106 and therate at which the PSA/PMADs are read is measured.

In action 804, the measured rate is compared to a reference rate toprovide a rate error. The reference rate can be any desired rate andonce selected can be made constant. In one embodiment, the referencerate is about 2 milliseconds.

In action 806, the PSA/PMAD value is used to access a lookup table,similar in form and function to lookup table 306 described above.Reference data is acquired from the lookup table, which may include aproportional gain, and an integrator gain.

In action 808, an integration function is performed using the referencedata and the rate error, in a manner similar to that described above, toprovide an output command. The output command can be used to provide adrive output, which commands the voltage applied to spin motor 102 tochange the spin speed of spin motor 102, as desired.

While particular embodiments of the present invention have been shownand described, it will be obvious to those having ordinary skill in theart that changes and modifications can be made without departing fromthis invention in its broader aspects. Therefore, the appended claimsare to encompass within their scope all such changes and modificationsas fall within the scope of this invention.

1. A method for controlling the spin speed of a motor comprising:receiving a period value; receiving an integrator gain value (Ki) and aproportional gain value (Kp); updating an integration value in responseto said integrator gain value; and outputting a motor control command inresponse to said proportional gain value.
 2. The method of claim 1,wherein said receiving said Ki and said Kp comprises a variable as afunction of a physical sector address on an optical medium.
 3. Themethod of claim 1, wherein said Ki and Kp are variable as a function ofa location on an optical medium.
 4. The method of claim 1, wherein saidupdating comprises incrementing said integration value by the product ofKi and said period error.
 5. The method of claim 1, wherein saidoutputting said control command comprises incrementing said integrationvalue by the product of said Ki and said period error.
 6. The method ofclaim 1, further comprising comparing the integrator value to a firstconstant and a second constant to determine if said value is greaterthan said first constant or lesser than said second constant.
 7. Themethod of claim 6, further comprising setting said integration value tosaid first constant when said value is greater than said first constant.8. The method of claim 6, further comprising setting said integrationvalue to said second constant when said value is lesser than said firstconstant.
 9. A system for controlling a spin motor comprising: a firstmodule for providing a period error, a proportional gain (Kp) and anintegration gain (Ki); a second module for operating on said Ki and Kpto provide an output; and a third module for commutating said motor inresponse to said output.
 10. The system of claim 9, wherein said Ki andsaid Kp comprise a variable as a function of a physical sector addresson an optical medium.
 11. The system of claim 9, wherein said Ki and Kpcomprise a variable as a function of a location on an optical medium.12. The system of claim 9, wherein said second module provides anintegration value incremented by the product of Ki and said perioderror.
 13. The system of claim 9, wherein said proportional value is theproduct of said Kp and said period error and is added to the integrationvalue to provide said output.
 14. The system of claim 13, wherein saidintegration value is made equal to a first constant if said integrationvalue is greater than said first constant.
 15. The system of claim 13,wherein said integration value is made equal to a second constant ifsaid integration value is lesser than said second constant.